JP2005003455A - Experiment simulation device and experiment simulation program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce time spent in preparing a drive program for driving a dispensing device with respect to a technique for simulating an experiment using the dispensing device. <P>SOLUTION: This experiment simulation device is equipped with a device-information storage part 11 storing information on a fictive dispensing device comprising a fictive experiment table 101 mounted with parts 400 for fictive experiment and fictive arm parts 200 movably disposed on an upper side of the experiment table 101, a drive-program storage part 12 stored with a drive program for a dispensing device serving as a subject of simulation and for the fictive dispensing device, a disposition part 22 for disposing the parts 400 for fictive experiment on the experiment table 101 according to a drive program, a fictive arm drive part 23 for driving the arm parts 200 according to the drive program, and a collision determination part 25 for determining whether the arm parts 200 have collided with the parts 400 for fictive experiment and with the experiment table 101 in a fictive space. According to this configuration, a fictive dispensing device is fictively driven by using a program for driving a real dispensing device to determine whether an arm collides with a part for fictive experiment, etc. in the fictive space. Therefore, it is possible to comprehend problems of the drive program prior to an actual experiment. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technique for simulating an experiment using a dispensing apparatus.
[0002]
[Prior art]
In recent years, in the fields of medicine, biotechnology, etc., from the viewpoint of safety etc., experimental forms that allow dispensing devices to perform dispensing work that aspirates reagents stored in test tubes etc. and discharges them to other test tubes are widely adopted. Has been. The dispensing device is equipped with a test tube for storing reagents, an experiment table on which a tip attached to an electric pipette is placed, and an electric pipette attached to the tip, which can be moved in the vertical and horizontal directions It is mainly composed of constructed arms.
[0003]
The operator pre-programs the layout of the container for storing various liquids on the experiment table and the operation pattern of the arm from the start to the end of the experiment in the dispenser, and the dispenser is stored in the programmed drive program. Based on this, the experiment is performed by operating the arm.
[0004]
[Problems to be solved by the invention]
However, such an experiment is generally composed of a very complicated process, and there are a wide variety of movement patterns of the arm. Therefore, after actually starting the experiment, the arm is placed on the experiment table or the experiment table. There is a possibility that troubles such as colliding with the experimental parts such as the container may occur. In order to avoid such trouble, the operator is required to accurately grasp the operation pattern of the arm, the layout of the experimental parts placed on the experiment table, and the like, and to create a precise drive program. Actually, since it is difficult to obtain a perfect program from the beginning, the creation of the drive program is performed by trial and error while repeating the provisional experiment. For this reason, there is a problem that a great deal of labor is required to create the drive program. In addition, even with the drive program created in this way, there are often cases where troubles occur when experiments are actually performed, and whether or not the dispensing device operates correctly with the created drive program. There was a high demand to confirm this before the actual experiment.
[0005]
An object of the present invention is to provide an experimental simulation apparatus and an experimental simulation program that can greatly reduce the labor required for creating a driving program for a dispensing apparatus.
[0006]
[Means for Solving the Problems]
In order to solve the above-described problem, the present experimental simulation apparatus performs an experiment using a dispensing apparatus by causing a virtual dispensing apparatus modeled in a virtual space to execute a driving program for driving the dispensing apparatus. The virtual dispensing apparatus includes a virtual experiment table on which a virtual experiment part is placed and a virtual arm that is movably disposed above the virtual experiment table. Including: device information storage means for storing device information for specifying at least the position, shape and function of each of the virtual experiment table and the virtual arm in the virtual space; and on the virtual space of the virtual experiment part. Part storing means for storing information for specifying at least the position, shape and function of the above, based on the drive program Arrangement means for arranging the virtual experiment part on the virtual experiment table, virtual arm drive means for operating the virtual arm based on the drive program, and the virtual experiment table and the virtual experiment part in the virtual space And a collision determination means for determining that the virtual arm, the virtual experiment part, and the virtual experiment table collide in the virtual space when the area of the virtual arm in the virtual space enters the area. And
[0007]
According to this configuration, the virtual dispensing apparatus is virtually driven using the program for driving the actual dispensing apparatus, and the collision between the arm and the virtual experimental part or the like is determined in the virtual space. Therefore, it becomes possible to grasp the problem of the drive program before actually conducting the experiment. That is, since it is possible to grasp the problem of the driving program without performing a temporary experiment using an actual dispensing apparatus, it is possible to reduce the labor spent on the program creation work.
[0008]
Moreover, it is preferable to further provide a notifying means for notifying that there is a high risk of collision when the distance between the virtual experiment part and the virtual experiment table and the virtual arm is equal to or less than a threshold value.
[0009]
According to this configuration, an allowance can be provided for the collision between the arm and the experiment table or the like.
[0010]
Moreover, it is preferable to further comprise an adjusting means for adjusting the threshold value. According to this configuration, it is possible to arbitrarily set the margin of collision between the arm and the experiment table by adjusting the threshold value.
[0011]
Further, there is further provided a history creation means for creating a history describing the operation status of the virtual dispensing apparatus for each predetermined operation unit from the start of the experimental simulation to the virtual dispensing apparatus until the end of the experimental simulation. It is preferable that the notification means describes the occurrence of a collision in a corresponding column of the history when a collision occurs.
[0012]
According to this configuration, since the occurrence of the collision is described in the history in which the operation status of the virtual dispensing device is described for each predetermined operation unit, the operation in which the collision has occurred can be quickly identified. .
[0013]
This experiment simulation program runs an experiment using a dispensing device virtually by causing a virtual dispensing device modeled in a virtual space to execute a driving program for driving the dispensing device. An experiment simulation program for causing a computer to function as an apparatus, wherein the virtual dispensing apparatus includes a virtual experiment table on which a virtual experiment part is placed and a virtual arm movably disposed above the virtual experiment table. Including device information storage means for storing device information for specifying at least the position, shape and function of each of the virtual experiment table and the virtual arm on the virtual space, and at least the virtual experiment part on the virtual space. Virtual experiment parts memory that stores information for specifying position, shape and function , Placement means for placing virtual experiment parts on the virtual experiment table based on the drive program, virtual arm drive means for operating the virtual arm based on the drive program, the virtual experiment table, and the virtual experiment part When a region on the virtual space of the virtual arm enters the region on the virtual space, a computer is used as a collision determination unit that determines that the virtual arm collides with the experimental part and the experiment table on the virtual space. It is made to function.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an experimental simulation apparatus according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a hardware configuration of an experimental simulation apparatus according to an embodiment of the present invention.
[0015]
The experimental simulation apparatus shown in FIG. 1 is composed of a normal computer, and includes an input device 1, a ROM (Read Only Memory) 2, a CPU (Central Processing Unit) 3, a RAM (Random Access Memory) 4, an external storage device 5, A display device 6, a recording medium driving device 7, and an input / output interface (I / F) 9 are provided. Each block is connected to an internal bus, and various data and the like are input / output through this bus, and various processes are executed under the control of the CPU 3.
[0016]
The input device 1 includes a keyboard, a mouse, and the like, and is used by an operator to input various data and operation commands.
[0017]
The ROM 2 stores a system program such as BIOS (Basic Input / Output System). The external storage device 5 is composed of a hard disk drive or the like, and stores a predetermined OS (Operating System), an experimental simulation program to be described later, and the like. The RAM 4 is used as a work area for the CPU 3.
[0018]
The recording medium driving device 7 includes a CD-ROM drive, a flexible disk drive, and the like. The experimental simulation program is recorded on a computer-readable recording medium 8 such as a CD-ROM or a flexible disk, and the experimental simulation program is read from the recording medium 8 by the recording medium driving device 7 and installed in the external storage device 5. You may make it perform. When the experiment simulation apparatus includes a communication device or the like and the experiment simulation program is stored in another computer connected via a communication network, the experiment simulation program is downloaded from the computer via the network and executed. You may do it.
[0019]
The display device 6 includes a liquid crystal display device, a CRT (cathode ray tube), and the like, and displays a simulation screen and the like by the experiment simulation device.
[0020]
FIG. 2 is a block diagram for explaining the function of the experiment simulation apparatus. The experimental simulation apparatus includes a storage unit 10 and a processing unit 20. The storage unit 10 includes an external storage device 5 and the like, and includes a device information storage unit 11, a drive program storage unit 12, an external file storage unit 13, and a log file storage unit 14.
[0021]
The device information storage unit 11 stores device information for specifying at least the position, shape, and function of the virtual dispensing device in the virtual space obtained by modeling the following dispensing device in the virtual space. To do. 3A and 3B are external views of the virtual dispensing device, in which FIG. 3A is a perspective view, FIG. 3B is a side view, and FIG. 3C is a front view. This virtual dispensing device is modeled on the basis of the sentence-sentence device “VFX-2100” manufactured by the applicant, and includes a virtual main body 100 and a virtual arm 200. The virtual space including the virtual dispensing device has the center of gravity of the virtual experiment table 101 as the origin O, the z axis in the vertical direction, the x axis in the long side direction of the virtual experiment table 101, and the y axis in the short side direction of the virtual experiment table 101. A coordinate system consisting of is set, and the position of each part and the like constituting the virtual dispensing apparatus in the virtual space is specified by this coordinate system. The virtual main body 100 has a substantially rectangular parallelepiped shape, and eight stoppers 102 are virtually disposed at appropriate positions including the four corners of the bottom surface. The upper surface portion of the virtual main body 100 is a virtual experiment table 101, and various virtual experiment parts 400 are placed on the virtual experiment table 101.
[0022]
A virtual arm unit 200 is virtually erected at a substantially central portion of the virtual experiment table 101. The virtual experiment table 101 is divided into two regions on the left and right with the virtual arm unit 200 as the center, and both regions are further divided into 3 × 3 nine rectangular small stage regions. Therefore, the virtual experiment table 101 is composed of a total of 18 small stage areas. Each small stage area is given a stage number of 1 to 18, respectively.
[0023]
The virtual arm unit 200 includes a virtual support arm 201, a virtual upper / lower arm 202, a virtual front / rear arm 203, and a virtual tip arm 204. The virtual strut arm 201 has a cylindrical shape and is virtually fixed to a substantially central portion of the virtual experiment table 101. The virtual vertical arm 202 is attached to the virtual support arm 201 so as to be virtually rotatable in the direction indicated by A in the drawing with the central axis as a rotation axis, and the virtual vertical arm 202 is indicated by B shown in the drawing to the virtual support arm 201. It is slidably mounted in the direction. A virtual front / rear arm 203 that is virtually attached to the front side from the virtual upper / lower arm 202 has a rectangular parallelepiped shape that is elongated in the horizontal direction, and is D in the figure relative to the virtual upper / lower arm 202 with the central axis as a rotation axis. It is attached so as to be virtually rotatable in the direction indicated by. The virtual tip arm 204 attached to the tip side of the virtual front / rear arm 203 has a rectangular parallelepiped shape that is long in the vertical direction, and can virtually slide in the left-right direction indicated by C in the figure relative to the virtual front / rear arm 203. It is attached.
[0024]
Various virtual experiment parts 400 such as a virtual electric pipette 406 and a virtual electric hand (not shown) for holding various virtual objects can be attached to the tip EP of the virtual tip arm 204 on the virtual experiment table 101 side. It is. A virtual tip (not shown) is attached to the tip of the virtual electric pipette 406. The virtual chip has a conical shape, and is used when the virtual electric pipette 406 virtually sucks and discharges the virtual reagent, and virtually stores the virtually sucked virtual reagent inside.
[0025]
Various virtual experiment parts 400 are virtually placed on the virtual experiment table 101. The virtual experiment part 400 includes a virtual electrophoresis tank 401, a virtual chip 402 used for virtually sucking and discharging the virtual reagent, a virtual chip tray 403 for virtually storing the virtual chip 402, and a virtual reagent for virtual use. Virtual test tube 404 for storing the virtual test tube, virtual test tube tray 405 for virtually storing the virtual test tube 404, and virtual electric pipette 406 for virtually sucking and discharging the virtual reagent virtually stored in the virtual test tube 404 , A virtual pipette holder 407 that virtually stores the virtual electric pipette 406, a virtual electric hand (not shown) that virtually holds a virtual object, and the like.
[0026]
In the case of FIG. 3A, a box-shaped object virtually placed on the left back side of the virtual experiment table 101 is a virtual electrophoresis tank 401, which is virtually embedded in front of the virtual electrophoresis tank 401. The two rectangular shapes are virtual chip trays 403, and the virtual chips 402 are virtual chips 402 that are virtually embedded in predetermined rows and predetermined columns inside the virtual chip tray 403. A virtual test tube 404 is a cylindrical tube having six virtual arrays and a narrowed tip, and a virtual test tube tray 405 that virtually supports the virtual test tube 404 is a virtual strut arm. A virtual pipette holder 407 is erected virtually in front of 201, and three cylindrical pipettes 406 virtually supported by the virtual pipette holder 407 are virtual electric pipettes 406.
[0027]
The drive program storage unit 12 shown in FIG. 2 stores a drive program for driving an actual dispensing device. This driving program is a program created by an operator to operate an actual dispensing apparatus.
[0028]
The external file storage unit 13 stores various files for storing necessary information for causing the virtual dispensing apparatus to perform an experiment simulation. These various files are files created in advance by the production company of the experimental simulation program, and are taken in when the experimental simulation program is installed, or taken from outside the apparatus through a recording medium or the Internet. This file can also be created by the operator himself.
[0029]
Specifically, an experimental part file (corresponding to experimental part information storage means) for storing various virtual experimental parts 400 used for the experimental simulation is included.
[0030]
The log file storage unit 14 stores a log file created by a history creation unit 24 described later.
[0031]
The processing unit 20 is realized by the CPU 3 executing this experiment simulation program, and the display control unit 21, the arrangement unit 22, the virtual arm driving unit 23, the history creation unit 24, the collision determination unit 25, the notification unit 26, and the adjustment unit. 27 and a drive program creation unit 28.
[0032]
The display control unit 21 reads the information of the virtual dispensing device from the device information storage unit 11 to display the virtual dispensing device on the display device 6 and the operation of the virtual arm unit 200 driven by the virtual arm driving unit 23. The situation is displayed on the display device 6 in real time. FIG. 4 is a screen diagram (simulation screen diagram) showing the virtual dispensing device displayed on the display device 6 by the display control unit 21. This screen diagram is composed of four display areas A1 to A4. The display area A1 is a front view of the virtual dispensing device, the display area A2 is a side view of the virtual dispensing device, the display area A3 is a top view of the virtual dispensing device, and the display area A4 is a virtual dispensing device. Simulation information indicating the operation status of the apparatus is displayed. In the display areas A <b> 1 to A <b> 3, various virtual experiment parts 400 and virtual arm units 200 that are virtually placed on the virtual experiment table 101 are displayed. In the upper part of the display area A4, columns R1 to R3 indicating respective positions on the x, y, and z axes of the distal end portion EP of the virtual distal arm 204, a column R4 indicating the rotation angle of the virtual front and rear arm 203, for example, ascending A column R5 indicating the movement state of the virtual tip arm 204 such as / lowering, a column R6 displaying the amount of virtual reagent virtually sucked or discharged by the virtual electric pipette 406 attached to the virtual tip arm 204, and an experiment simulation A column R7 indicating the elapsed time from the start is displayed. Further, in the lower part of the display area A4, an operation history display column L1 indicating the operation status for each predetermined operation unit of the virtual dispensing device is displayed in a table format, and above the operation history display column L1, an operation history is displayed. "Log save" button for saving the log in the log file and "Log clear" button for deleting the log are displayed. When the “log clear” button is clicked, the operation history displayed in the operation history display field L1 is deleted.
[0033]
Here, the predetermined operation unit is, for example, an operation in which the virtual tip arm 204 to which a temporary electric hand is attached virtually holds an object virtually placed on the virtual experiment table 101, and the virtual arm unit 200 is configured. An operation in which any one of the virtual arms virtually moves from a predetermined movement start position to a predetermined stop position corresponds to one operation unit. Hereinafter, this “predetermined operation unit” is referred to as “one-step operation”.
[0034]
The placement unit 22 reads out the virtual experiment part 400 to be placed on the virtual experiment table 101 from the external file storage unit 13 based on the drive program, and the virtual experiment table 101 in which each virtual experiment part 400 is designated. Place in the upper layout position.
[0035]
The virtual arm drive unit 23 virtually drives the virtual arm unit 200 according to the drive program stored in the drive program storage unit 12.
[0036]
The history creation unit 24 creates, for example, an operation history describing the operation status of the virtual dispensing device for each operation of the virtual arm unit 200, and uses the created operation history as a log file. To remember.
[0037]
The collision determination unit 25 determines whether or not there is a collision between the virtual tip arm 204, the virtual experiment table 101, and the virtual experiment part 400 placed on the virtual experiment table 101. Specifically, it is determined that the virtual arm unit 200 has collided when the area of the virtual arm unit 200 enters the area of the virtual space of the virtual experiment table 101 and the virtual experiment part 400.
[0038]
The notification unit 26 sets an area that includes the area of the virtual tip arm 204 in the virtual space and is wider than the area of the virtual tip arm 204 in the virtual space, and the virtual tip arm 204 is virtual. When the set dangerous area enters the area on the virtual space of the virtual experiment table 101 and the virtual experiment part 400 by moving in the space, the virtual arm unit 200, the virtual experiment table 101, and the virtual experiment part 400 is approached and the operator is informed that the probability of collision is high. Here, the notification unit 26 notifies the operator that the probability of collision is high on the display device 6 or is recorded in the history by the history creation unit 24.
[0039]
The adjusting unit 27 sets the range of the dangerous area according to information input by the operator via the input device 1. The dangerous area is set by entering a numerical value on a dangerous area setting screen (not shown) displayed in a GUI (graphical user interface) format. In the present embodiment, the dangerous area is assumed to be a rectangular parallelepiped area that includes the virtual tip arm 204 and has a larger volume than the virtual tip arm 204. Therefore, the dangerous area is z1 on the + z axis side, z2 on the -z axis side, and parallel to the x axis with respect to one side parallel to the z axis when the longitudinal direction of the virtual tip arm 204 is placed parallel to the Z axis. X1, x2, y1, y2, z1, and the like, that is, x1 on the xx side, x2 on the -x axis side, y1 on the + y axis side, y2 on the -y axis side, and so on. It is set by determining each value of z2. In this embodiment, when the virtual electric pipette 406 is attached to the distal end EP of the virtual tip arm 204, the value of z2 is set to be larger than z1 in consideration of the shape of the cylindrical virtual electric pipette 406. It can be set large.
[0040]
The drive program creation unit 28 activates a program creation support tool used by an operator to create a drive program, receives a drive program created using the program creation support tool, and stores the drive program in the drive program storage unit 12.
[0041]
FIG. 5 is a flowchart showing the operation of this experimental simulation apparatus. First, when the experiment simulation program is started by the operator in step S1, an external file is read from the external file storage unit 13, information on the virtual dispensing device is read from the device information storage unit 11, and a drive program The driving program is read from the storage unit 12, and the virtual dispensing device is displayed on the display device 6 based on the read external file, the information on the virtual dispensing device, and the driving program.
[0042]
In this case, as shown in FIG. 4 described above, the virtual experiment part 400 read from the experiment file is arranged at the layout position on the virtual experiment table 101 designated by the drive program.
[0043]
In step S2, when the operator commands the input device 1 to start a simulation, the virtual arm drive unit 23 drives the virtual arm. The simulation start command is performed as follows. When the start of simulation is clicked from the pull-down menu displayed when “File” is clicked from the menu bar shown at the upper side of FIG. 4, the simulation dialog screen shown in FIG. 6 is displayed. An experiment simulation is started by clicking a simulation start button T1 marked with a right arrow mark displayed on the upper left side. The button with the square mark displayed on the right side of the simulation start button T1 is the simulation pause button T2 for pausing the experimental simulation, and the square mark displayed on the right side of the simulation pause button is written. This button is a simulation stop button T3 for stopping the experiment simulation.
[0044]
The slide bar T4 displayed below these three buttons indicates the progress of the simulation. For example, immediately after the simulation starts, the slide bar T4 is located at the left end, and as the simulation progresses, the slide bar T4 is displayed. T4 slides to the right.
[0045]
Below the slide bar T4, a simulation speed display column T6 indicating the speed of simulation is displayed. The simulation speed can be adjusted by the two buttons displayed on the right side of the simulation speed display field T6. When the button with the up arrow is clicked, the simulation speed increases by 0.1 times, and the down arrow When the button marked with is clicked, the simulation speed decreases by a factor of 0.1. The simulation speed can be adjusted in the range of 0.1 to 100.0 times.
[0046]
In addition, the simulation dialog screen includes a dangerous area setting field T7 displayed below the simulation speed display field T6 and a top view display magnification field T8 for setting the display magnification of the top view shown in the display area A1 of FIG. A radio button T10 for setting the viewpoint of the side view shown in the display area A2 of FIG. 4, and a radio button T9 for setting the viewpoint of the top view displayed in the display area A3 of FIG. And a button T11 for closing the simulation dialog screen. When the viewpoint of the side view is set to “left” with the radio button T9, the virtual dispensing device is displayed with the viewpoint from the left direction. When the viewpoint is set to “right”, the virtual dispensing device is displayed with the viewpoint of the right direction. Is done.
[0047]
In step S3, the virtual arm drive unit 23 drives the virtual arm unit 200 based on the drive program, and when the virtual arm unit 200 performs a predetermined one-step operation (step S4), the collision determination unit 25 The presence or absence of a collision in the virtual space between the virtual arm unit 200, the virtual experiment table 101, and the virtual experiment part 400 is determined. When a collision in the virtual space occurs (YES in step S4), the history creating unit 24 describes in the operation history that a collision has occurred in the operation of the one step. On the other hand, if no collision has occurred in step S4 (NO in step S4), the history creating unit 24 indicates that the operation of the one step has been normally performed in the operation history (for example, “normal” or “OK”). Is described. In this case, the operation status (operation status) for the operation of the one step is displayed in the operation history display field L1 shown in the display area A4 of FIG. As the operation status to be displayed, “position” indicating the position of the tip portion EP of the virtual tip arm 204 on the virtual experiment table 101, “coordinate” indicating the coordinates of the virtual tip arm 204 in the virtual space, “Operation” indicating the contents of the operation of the virtual dispensing device, “Liquid amount” indicating the amount of virtual reagent that is virtually aspirated or discharged by the virtual electric pipette 406, presence / absence of collision in the virtual space, other “Remarks” indicating that an error has occurred is included. In the “position” column, when the tip portion EP of the virtual tip arm 204 exists on the small stage region whose stage number is 12, for example, “12 small stage region” is displayed, and the tip portion of the virtual tip arm 204 is displayed. When the EP is on the virtual liquid disposal hole virtually provided in the virtual experiment table 101, for example, “waste liquid” is displayed.
[0048]
In the “coordinate” column, coordinates (x, y, z) in the virtual space of the distal end portion EP of the virtual distal arm 204 are displayed.
[0049]
In the “motion” column, when the virtual tip arm 204 is raised, for example, “up” is displayed, and when the virtual tip arm 204 is lowered, for example, “down” is displayed. When the electric pipette 406 is attached, for example, “Pipette wear” is displayed.
[0050]
In the “remarks” column, when the virtual tip arm 204 virtually collides while moving in the horizontal direction (x-axis, y-axis plane), for example, “horizontal collision” is displayed, and the virtual tip arm 204 is displayed in the vertical direction ( When the virtual collision occurs during movement in the z-axis direction, for example, “vertical collision” is displayed, and when virtual mounting of the virtual chip 402 fails, for example, “chip mounting failure” is displayed. Further, although the virtual tip arm 204 does not virtually collide with the virtual experimental part 400, it is displayed that the probability that the virtual tip arm 204 will virtually collide is high when entering the dangerous area.
[0051]
In step S6, when all the steps of the experiment simulation are finished (YES in step S6), the process is finished. When all the steps are not finished (NO in step S6), the process returns to step S3, and the next step Is executed, and the same processing is applied to this step.
[0052]
As described above, according to the present embodiment, the virtual arm unit 200 of the virtual dispensing device is operated using the drive program created to operate the actual dispensing device, and the virtual space unit is operated in the virtual space. Since it is determined whether or not a collision has occurred, it is possible to grasp the problems of the drive program without performing a preliminary experiment using an actual dispensing device, greatly reducing the effort spent on creating the drive program. Can be reduced.
[0053]
In the above embodiment, when a collision occurs in the virtual space, the occurrence of the collision is reported by describing that the collision has occurred in the operation history, but an alarm that the collision has occurred is sounded, or The background of the simulation screen shown in FIG. 4 may be displayed in red, and the occurrence of a collision may be notified by stopping the experiment simulation.
[0054]
Although not described in the above embodiment, the notification unit 26 notifies that there is a high possibility of a collision in a plurality of stages, for example, three stages according to the distance between the virtual arm unit 200 and the virtual experiment table 101. Also good. In this case, the alerting | reporting part 26 should just raise the frequency of a beep, for example, as the probability that it collides will become high.
[0055]
【The invention's effect】
As described above, according to the present invention, since it is possible to determine the presence / absence of a collision without driving an actual dispensing device, it is possible to greatly reduce the effort spent on creating a drive program. .
[Brief description of the drawings]
FIG. 1 is a block diagram showing a hardware configuration of an experiment simulation apparatus according to an embodiment of the present invention.
FIG. 2 is a block diagram for explaining the function of the present experimental simulation apparatus.
FIGS. 3A and 3B are external views of a virtual dispensing device, where FIG. 3A is a perspective view, FIG. 3B is a side view, and FIG. 3C is a front view.
FIG. 4 is a diagram showing a simulation screen displayed by the experimental simulation apparatus.
FIG. 5 is a flowchart showing the operation of the experimental simulation apparatus.
FIG. 6 is a diagram showing a simulation dialog screen.
[Explanation of symbols]
10 storage unit
11 Device information storage unit
12 Drive program storage
13 External file storage
20 processor
21 Display controller
22 Placement section
23 Virtual arm drive
24 History creation section
25 Collision determination unit
26 Notification Department
27 Adjustment unit
28 Drive program creation unit
100 Body
101 Virtual experiment table
102 Stopper
200 Virtual arm
201 Virtual strut arm
202 Virtual upper and lower arms
203 Virtual front and rear arm
204 Virtual tip arm
400 Virtual experiment parts
401 Virtual electrophoresis tank
402 Virtual chip
403 Virtual chip tray
404 virtual test tube
405 Virtual test tube tray
406 Virtual electric pipette
407 Virtual pipette holder

Claims (5)

An experiment simulation apparatus that virtually executes an experiment using a dispensing apparatus by causing a virtual dispensing apparatus modeled in a virtual space to execute a driving program for driving the dispensing apparatus.
The virtual dispensing apparatus includes a virtual experiment table on which a virtual experiment part is placed and a virtual arm that is movably disposed above the virtual experiment table,
Device information storage means for storing device information for specifying at least the position, shape and function of each of the virtual experiment table and the virtual arm in the virtual space;
Experimental part information storage means for storing information for specifying at least the position, shape and function of the virtual experimental part in a virtual space;
Arranging means for arranging the virtual experiment part on the virtual experiment table based on the drive program;
Virtual arm driving means for operating the virtual arm based on the driving program;
When an area on the virtual space of the virtual arm enters the area on the virtual space of the virtual experiment table and the virtual experiment part, the virtual arm, the virtual experiment part, and the virtual experiment table are on the virtual space. An experiment simulation apparatus comprising: a collision determination unit that determines that a collision has occurred. The informing means for informing that there is a high risk of collision when the distance between the virtual experiment part and the virtual experiment table and the virtual arm is equal to or less than a threshold value. Experimental simulation device. The experiment simulation apparatus according to claim 1, further comprising adjusting means for adjusting the threshold value. From the start of the experimental simulation to the virtual dispensing device until the end of the experimental simulation, further comprising a history creating means for creating a history describing the operation status of the virtual dispensing device for each predetermined operation unit,
The experiment simulation apparatus according to claim 1, wherein when the collision occurs, the notification unit describes the occurrence of the collision in a corresponding column of the history. By causing the virtual dispensing device modeled in the virtual space to execute a drive program for driving the dispensing device, the computer functions as an experiment simulation device that virtually executes an experiment using the dispensing device. An experimental simulation program,
The virtual dispensing apparatus includes a virtual experiment table on which a virtual experiment part is placed and a virtual arm that is movably disposed above the virtual experiment table,
Device information storage means for storing device information for specifying at least the position, shape and function of each of the virtual experiment table and the virtual arm in the virtual space;
Experimental part information storage means for storing information for specifying at least the position, shape and function of the virtual experimental part in a virtual space;
Arranging means for arranging virtual experiment parts on the virtual experiment table based on the drive program,
Virtual arm driving means for operating the virtual arm based on the driving program;
When an area on the virtual space of the virtual arm enters the area on the virtual space of the virtual experiment table and the virtual experiment part, the virtual arm collides with the experiment part and the experiment table on the virtual space. An experiment simulation program characterized by causing a computer to function as a collision determination means for determining that a failure has occurred.

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